CN113001072B - Spatial multi-freedom-degree controllable mechanism type micro-adjustment welding robot - Google Patents
Spatial multi-freedom-degree controllable mechanism type micro-adjustment welding robot Download PDFInfo
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- CN113001072B CN113001072B CN202110261596.0A CN202110261596A CN113001072B CN 113001072 B CN113001072 B CN 113001072B CN 202110261596 A CN202110261596 A CN 202110261596A CN 113001072 B CN113001072 B CN 113001072B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K37/00—Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups
- B23K37/02—Carriages for supporting the welding or cutting element
- B23K37/0252—Steering means
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P70/00—Climate change mitigation technologies in the production process for final industrial or consumer products
- Y02P70/10—Greenhouse gas [GHG] capture, material saving, heat recovery or other energy efficient measures, e.g. motor control, characterised by manufacturing processes, e.g. for rolling metal or metal working
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Abstract
The invention relates to the technical field of welding robots, in particular to a space multi-degree-of-freedom controllable mechanism type fine-tuning welding robot which comprises a mounting shell, wherein a movable base is arranged above the mounting shell, connecting rods are fixedly connected to four ends of the top of the mounting shell, the top end of each connecting rod penetrates through the side face of the movable base and extends out to be fixedly connected with a baffle, and first springs are sleeved on the connecting rods between the mounting shell and the movable base. The device drives the fixed rod to rotate through adjusting the position of the welding head on the fixed rod and rotating the fixed rod through the second gear, so that the welding head can accurately adjust the welding point, the welding accuracy is improved, and the welding effect is guaranteed.
Description
Technical Field
The invention relates to the field of welding robots, in particular to a spatial multi-degree-of-freedom controllable mechanism type micro-adjustment welding robot.
Background
Welding robots are industrial robots that engage in welding. Industrial robots, which are a versatile, re-programmable, automatic control manipulator with three or more programmable axes for use in the field of industrial automation, are defined by the international organization for standardization industrial robots, which are standard welding robots. To accommodate different applications, the mechanical interface of the last shaft of the robot, typically a connecting flange, may be adapted to accept different tools or end effectors. The welding robot is to attach a welding tongs or a welding gun to a tail shaft flange of the industrial robot so as to weld, cut or thermally spray.
Most of the existing welding robots can only perform surface welding operation, are difficult to weld at the bottoms of equipment with large volumes and complicated lifting procedures, and when the chassis of an automobile needs to be welded, the traditional welding robots are difficult to enter the bottoms of the automobile, and are unfavorable for finding actual welding points, so that welding position deviation is caused, and the welding effect is affected.
Disclosure of Invention
The invention aims to solve the defects in the prior art and provides a spatial multi-freedom-degree controllable mechanism type micro-adjustment welding robot.
In order to achieve the above purpose, the invention adopts the following technical scheme: the utility model provides a controllable mechanism formula fine tuning welding robot of space multi freedom, includes the installation casing, the movable base has been placed to the top of installation casing, the four equal fixedly connected with connecting rod in top of installation casing, every the top of connecting rod all runs through the side of movable base and extends away fixedly connected with baffle, all overlap on the connecting rod between installation casing and the movable base and be equipped with first spring;
the top center department fixedly connected with screw rod of installation casing, the top of screw rod runs through the side of movable base and extends out threaded connection and have the go-between, the cover is equipped with the lantern ring on the screw rod between movable base and the go-between, the outer wall diameter of lantern ring is less than the outer wall diameter of go-between, be equipped with sliding part on the lantern ring, the cover is equipped with the second gear on the lantern ring, the bottom fixed mounting of movable base has step motor, fixedly connected with axis of rotation on the step motor output shaft, the one end of axis of rotation runs through the side of movable base and extends out fixedly connected with first gear, first gear and second gear mesh mutually, be connected with the soldered connection through adjusting part on the second gear.
Preferably, the sliding component comprises a plurality of balls, an annular groove is formed in the top of the lantern ring, the balls are all located in the annular groove, a connecting shaft is inserted into each ball, and two ends of each connecting shaft are fixedly connected to two sides in the annular groove.
Preferably, a plurality of balls are uniformly distributed around the annular groove, one end of each ball is located above the annular groove, and one end of each ball is in contact with the bottom of the connecting ring.
Preferably, the adjusting part comprises a fixed rod, the fixed rod is fixedly connected at the top of second gear one side, the arc wall that runs through to the bottom is opened at the top of fixed rod, the sliding block has been placed to the one end in the arc wall, the top fixedly connected with soldered connection of sliding block, it is equipped with circular pole to insert on the sliding block, the both ends of circular pole are the both ends of fixed connection in the arc wall respectively, the cover is equipped with the second spring on the circular pole between second gear and the sliding block, be connected with spacing part on the soldered connection.
Preferably, the limiting component comprises a fixed ring, the fixed ring is fixedly connected to one side of the welding head, a pull ring is placed above the fixed ring, a limiting rod is fixedly connected to the bottom of the pull ring, one end of the limiting rod extends out of the fixed ring and is fixedly connected with a baffle ring, a third spring is sleeved on the limiting rod between the fixed ring and the baffle ring, and a plurality of limiting blocks are fixedly connected to one side of the fixed rod.
Preferably, the limiting blocks are uniformly distributed, and the limiting blocks and the limiting rods are positioned on the same side.
Preferably, the bottom of the limiting rod is flush with the bottom of the limiting block, and the bottom of the baffle ring is flush with the top of the limiting block.
Preferably, the bottom fixedly connected with bottom plate of installation casing, the bottom center department fixedly connected with circular ring of bottom plate, there are a plurality of auxiliary universal wheels the bottom of circular ring, the top fixed mounting of bottom plate has driving motor, driving motor's output shaft runs through the bottom plate side and extends away fixedly connected with electric universal wheel, electric universal wheel is located circular ring.
Compared with the prior art, the invention has the following beneficial effects:
1. starting a stepping motor, driving a rotating shaft to rotate by the operation of the stepping motor, driving a first gear to rotate by the rotating shaft, meshing and rotating by a second gear to match with the first gear, then moving a welding head, enabling a sliding block at the bottom of the welding head to slide along a circular rod, driving the fixing rod to rotate by adjusting the position of the welding head on the fixing rod through the rotation of the second gear, thereby enabling the welding head to accurately adjust a welding point, being beneficial to improving welding accuracy and guaranteeing welding effect.
2. The movable base is connected through four connecting rods, so that four ends of the movable base can move up and down along the connecting rods, the connecting rings extrude the lantern rings to move downwards when moving downwards around the screw rods, and the lantern rings extrude the movable base to move downwards, so that the height of the whole welding robot is reduced, and the welding robot is convenient to adapt to automobiles with different chassis heights.
3. Starting a driving motor, driving the electric universal wheels to move by the driving motor, driving the welding robot to move, and enabling the auxiliary universal wheels at the bottom of the circular ring to cooperate with the electric universal wheels to move, so that the welding robot can conveniently steer and move, and the welding robot can smoothly enter the automobile chassis.
Drawings
FIG. 1 is a schematic diagram of the structure of the present invention;
FIG. 2 is a schematic side sectional view of the present invention;
FIG. 3 is a schematic view of the bottom structure of the present invention;
FIG. 4 is a schematic diagram of a semi-sectional structure of the present invention;
FIG. 5 is a schematic view of the internal structure of the collar of the present invention;
FIG. 6 is an enlarged schematic view of the structure A in FIG. 2 according to the present invention;
FIG. 7 is an enlarged schematic view of the structure at B in FIG. 4 according to the present invention;
FIG. 8 is an enlarged schematic view of the structure of FIG. 5 at C in accordance with the present invention;
fig. 9 is an enlarged schematic view of the structure at D in fig. 2 according to the present invention.
In the figure: the device comprises a mounting shell 1, a movable base 2, a connecting rod 3, a first spring 4, a baffle 5, a bottom plate 6, a circular ring 7, an electric universal wheel 8, an auxiliary universal wheel 9, a driving motor 10, a first gear 11, a rotating shaft 12, a second gear 13, a connecting ring 14, a screw 15, a stepping motor 16, a fixed rod 17, a lantern ring 18, an annular groove 19, a ball 20, a connecting shaft 21, an arc-shaped groove 22, a circular rod 23, a second spring 24, a welding head 25, a fixed ring 26, a pull ring 27, a limiting rod 28, a third spring 29, a baffle ring 30, a limiting block 31 and a sliding block 32.
Description of the embodiments
The following description is presented to enable one of ordinary skill in the art to make and use the invention. The preferred embodiments in the following description are by way of example only and other obvious variations will occur to those skilled in the art.
The utility model provides a controllable mechanism formula fine tuning welding robot of space multi freedom as shown in fig. 1-9, including installation casing 1, the bottom fixedly connected with bottom plate 6 of installation casing 1, the bottom center department fixedly connected with circular ring 7 of bottom plate 6, the bottom of circular ring 7 has a plurality of auxiliary universal wheels 9, the top fixed mounting of bottom plate 6 has driving motor 10, driving motor 10's output shaft runs through bottom plate 6 side and extends out fixedly connected with electric universal wheel 8, electric universal wheel 8 is located circular ring 7, movable base 2 has been placed to the top of installation casing 1, the top of installation casing 1 is all fixedly connected with connecting rod 3, the top of every connecting rod 3 all runs through movable base 2's side and extends out fixedly connected with baffle 5, all overlap on the connecting rod 3 between installation casing 1 and the movable base 2 and be equipped with first spring 4.
The implementation mode specifically comprises the following steps:
when the welding robot is used, the driving motor 10 is started to drive the electric universal wheels 8 to move, so that the welding robot is driven to move, the auxiliary universal wheels 9 at the bottom of the circular ring 7 are matched with the electric universal wheels 8 to move, the welding robot is convenient to steer and move, the welding robot smoothly enters the automobile chassis, the movable base 2 is connected through the four connecting rods 3 in a penetrating mode, the four ends of the movable base 2 can move up and down along the connecting rods 3, the baffle 5 at the top of the connecting rods 3 can abut against the top of the movable base 2, the movable base 2 is prevented from falling from the upper side of the connecting rods 3, the first springs 4 sleeved on the connecting rods 3 are used for extruding the bottom of the movable base 2 through the elastic action of the springs, and the movable base 2 is always located at the top ends of the connecting rods 3.
The top center department fixedly connected with screw rod 15 of installation casing 1, the top of screw rod 15 runs through the side of movable base 2 and extends out threaded connection and have go out go-between 14, the cover is equipped with lantern ring 18 on the screw rod 15 between movable base 2 and the go-between 14, the outer wall diameter of lantern ring 18 is less than the outer wall diameter of go-between 14, be equipped with sliding part on the lantern ring 18, sliding part includes a plurality of balls 20, annular groove 19 has been opened at the top of lantern ring 18, a plurality of balls 20 all are located annular groove 19, the connecting axle 21 has all been inserted to the inside of every ball 20, the both ends of every connecting axle 21 all fixed connection are in the both sides in annular groove 19, a plurality of balls 20 evenly distributed around annular groove 19, the one end of every ball 20 all is located annular groove 19, the one end of ball 20 contacts with the bottom of go-between 14.
The implementation mode specifically comprises the following steps:
in the use process, through rotating the connecting ring 14, the connecting ring 14 is screwed on the screw rod 15 and moves downwards, the bottom of the connecting ring 14 is contacted with the balls 20 in the lantern ring 18, the balls 20 rotate around the connecting shaft 21, friction force generated during rotation is reduced, the lantern ring 18 is extruded to move downwards when the connecting ring 14 moves downwards around the screw rod 15, the lantern ring 18 is extruded to move downwards on the movable base 2, the height of the whole welding robot is reduced, and the welding robot is convenient to adapt to automobiles with different chassis heights, so that the bottoms of the automobiles are smoothly carried out.
The sleeve ring 18 is sleeved with a second gear 13, the bottom of the movable base 2 is fixedly provided with a stepping motor 16, an output shaft of the stepping motor 16 is fixedly connected with a rotating shaft 12, one end of the rotating shaft 12 penetrates through the side face of the movable base 2 and extends out to be fixedly connected with a first gear 11, the first gear 11 is meshed with the second gear 13, the second gear 13 is connected with a welding head 25 through an adjusting part, the adjusting part comprises a fixing rod 17, the fixing rod 17 is fixedly connected to the top of one side of the second gear 13, the top of the fixing rod 17 is provided with an arc-shaped groove 22 penetrating to the bottom, one end in the arc-shaped groove 22 is provided with a sliding block 32, the top of the sliding block 32 is fixedly connected with a welding head 25, a circular rod 23 is inserted into the sliding block 32, two ends of the circular rod 23 are respectively fixedly connected to two ends in the arc-shaped groove 22, and a second spring 24 is sleeved on the circular rod 23 between the second gear 13 and the sliding block 32.
The implementation mode specifically comprises the following steps:
by starting the stepping motor 16, the stepping motor 16 works to drive the rotating shaft 12 to rotate, the rotating shaft 12 drives the first gear 11 to rotate, the first gear 11 and the second gear 13 are meshed, the second gear 13 is matched with the first gear 11 to rotate in a meshed mode, the outer diameter of the sleeve ring 18 is smaller than that of the second gear 13, the second gear 13 is limited by the connecting ring 14 during rotation, and accordingly cannot fall off from the upper portion of the screw rod 15, the stepping motor 16 drives the second gear 13 to reciprocally rotate back and forth in the actual rotation process, the connecting wire of the welding head 25 connected to the second gear 13 cannot be excessively wound, short circuit or damage is caused to the connecting wire, the fixed rod 17 is fixedly connected to the top of one side of the second gear 13, the sliding block 32 at the bottom of the welding head 25 can slide along the circular rod 23, the circular rod 23 is fixedly connected in the arc-shaped groove 22 of the fixed rod 17, accordingly the welding head 25 moves at two ends above the fixed rod 17, and the second spring 24 sleeved on the circular rod 23 enables one end 32 to be located at one end of the arc-shaped groove 22 to abut against the outer end of the welding head 25.
Be connected with spacing part on the welding head 25, spacing part includes solid fixed ring 26, gu fixed ring 26 fixed connection is in one side of welding head 25, gu fixed ring 26 top has placed pull ring 27, gu the bottom fixedly connected with gag lever post 28 of pull ring 27, the one end of gag lever post 28 extends away and fixedly connected with keeps off ring 30 in follow gu fixed ring 26, gu the cover is equipped with third spring 29 on the gag lever post 28 between fixed ring 26 and the fender ring 30, one side fixedly connected with stopper 31 of dead lever 17, stopper 31 is evenly distributed, stopper 31 and gag lever post 28 are located same one side, the bottom of gag lever post 28 and the bottom of stopper 31 are parallel and level mutually, the bottom of keeping off ring 30 and the top of stopper 31 are parallel and level mutually.
The implementation mode specifically comprises the following steps:
by pulling the pull ring 27 upwards, the pull ring 27 drives the stop rod 28 to move upwards, the stop rod 28 drives the stop ring 30 to move upwards, the distance between the stop ring 30 and the fixed ring 26 is shortened, thereby the third spring 29 is compressed and deformed, the bottom end of the stop rod 28 is positioned above the top of the stop block 31, then the welding head 25 is moved, the sliding block 32 at the bottom of the welding head 25 slides along the circular rod 23, when the welding head 25 moves to a proper position, the pull ring 27 is loosened, the elastic action of the third spring 29 enables the third spring to extend outwards, the stop ring 30 is extruded to move downwards, the stop ring 30 drives the stop rod 28 to move downwards, one end of the stop rod 28 is positioned on one side of the corresponding stop block 31, the stop block 31 abuts against the stop rod 28, thereby the welding head 25 is fixed at an adjusted position, the position of the welding head 25 on the fixed rod 17 is adjusted, and the fixed rod 17 is driven to rotate through the rotation of the second gear 13, thereby the welding head 25 can accurately adjust the welding point, the welding point is facilitated to be improved, and the welding effect is ensured.
The working principle of the invention is as follows:
referring to fig. 1-9 of the specification, in the use process, the movable base 2 is connected through four connecting rods 3, so that four ends of the movable base 2 can move up and down along the connecting rods 3, the baffle plate 5 at the top of the connecting rods 3 can prop against the top of the movable base 2, the movable base 2 is prevented from falling off from the upper part of the connecting rods 3, the first spring 4 sleeved on the connecting rods 3 extrudes the bottom of the movable base 2 through the elastic action of the first spring, the movable base 2 is always positioned at the top end of the connecting rods 3, the connecting ring 14 is screwed on the screw rod 15 and moves downwards through rotating the connecting ring 14, the bottom of the connecting ring 14 is contacted with the balls 20 in the lantern ring 18, the balls 20 rotate around the connecting shafts 21, friction force generated during rotation is reduced, the lantern ring 18 is extruded to move downwards when the connecting ring 14 moves downwards around the screw rod 15, and the lantern ring 18 is extruded to move downwards, so that the height of the whole welding robot is reduced, and the welding robot is convenient to adapt to automobiles with different chassis heights.
Through starting driving motor 10, driving motor 10 drives electric universal wheel 8 and removes to drive welding robot and remove, a plurality of auxiliary universal wheels 9 of circular ring 7 bottom cooperate electric universal wheel 8 to cooperate the removal, make things convenient for welding robot to turn to the removal, thereby in the smooth entering vehicle chassis.
The stepping motor 16 is started, the stepping motor 16 works to drive the rotating shaft 12 to rotate, the rotating shaft 12 drives the first gear 11 to rotate, the first gear 11 and the second gear 13 are meshed, the second gear 13 is matched with the first gear 11 to rotate in a meshed mode, the outer diameter of the sleeve ring 18 is smaller than that of the second gear 13, the second gear 13 is limited by the connecting ring 14 during rotation, and accordingly cannot fall off from the upper portion of the screw rod 15, the stepping motor 16 drives the second gear 13 to reciprocally rotate back and forth in the actual rotation process, the connecting wire of the welding head 25 connected to the second gear 13 cannot be excessively wound, short circuit or damage is caused to the connecting wire, the fixed rod 17 is fixedly connected to the top of one side of the second gear 13, the sliding block 32 at the bottom of the welding head 25 can slide along the circular rod 23, the circular rod 23 is fixedly connected in the arc-shaped groove 22 of the fixed rod 17, accordingly the welding head 25 moves at two ends above the fixed rod 17, and the second spring 24 sleeved on the circular rod 23 enables one end of the sliding block 32 to be located at one end of the arc-shaped groove 22 to abut against the outer end of the fixed rod 17.
By pulling the pull ring 27 upwards, the pull ring 27 drives the stop rod 28 to move upwards, the stop rod 28 drives the stop ring 30 to move upwards, the distance between the stop ring 30 and the fixed ring 26 is shortened, thereby the third spring 29 is compressed and deformed, the bottom end of the stop rod 28 is positioned above the top of the stop block 31, then the welding head 25 is moved, the sliding block 32 at the bottom of the welding head 25 slides along the circular rod 23, when the welding head 25 moves to a proper position, the pull ring 27 is loosened, the elastic action of the third spring 29 enables the third spring to extend outwards, the stop ring 30 is extruded to move downwards, the stop ring 30 drives the stop rod 28 to move downwards, one end of the stop rod 28 is positioned on one side of the corresponding stop block 31, the stop block 31 abuts against the stop rod 28, thereby the welding head 25 is fixed at an adjusted position, the position of the welding head 25 on the fixed rod 17 is adjusted, and the fixed rod 17 is driven to rotate through the rotation of the second gear 13, thereby the welding head 25 can accurately adjust the welding point, the welding point is facilitated to be improved, and the welding effect is ensured.
The foregoing has shown and described the basic principles, principal features and advantages of the invention. It will be understood by those skilled in the art that the present invention is not limited to the foregoing embodiments, but rather, the foregoing embodiments and description illustrate the principles of the invention, and that various changes and modifications may be effected therein without departing from the spirit and scope of the invention as defined by the appended claims and their equivalents.
Claims (4)
1. The utility model provides a controllable mechanism formula fine tuning welding robot of space multi freedom, includes installation casing (1), its characterized in that, movable base (2) have been placed to the top of installation casing (1), the four equal fixedly connected with connecting rod (3) in top of installation casing (1), every the top of connecting rod (3) all runs through the side of movable base (2) and extends out fixedly connected with baffle (5), all overlap on connecting rod (3) between installation casing (1) and movable base (2) and be equipped with first spring (4);
the screw rod (15) is fixedly connected to the center of the top of the installation shell (1), the top end of the screw rod (15) penetrates through the side face of the movable base (2) and extends out to be in threaded connection with the connecting ring (14), a lantern ring (18) is sleeved on the screw rod (15) between the movable base (2) and the connecting ring (14), the outer wall diameter of the lantern ring (18) is smaller than that of the connecting ring (14), a sliding part is arranged on the lantern ring (18), a second gear (13) is sleeved on the lantern ring (18), a stepping motor (16) is fixedly arranged at the bottom of the movable base (2), a rotating shaft (12) is fixedly connected to an output shaft of the stepping motor (16), one end of the rotating shaft (12) penetrates through the side face of the movable base (2) and extends out to be fixedly connected with the first gear (11), the first gear (11) is meshed with the second gear (13), and a welding head (25) is connected to the second gear (13) through an adjusting part;
the adjusting component comprises a fixed rod (17), the fixed rod (17) is fixedly connected to the top of one side of the second gear (13), an arc-shaped groove (22) penetrating to the bottom is formed in the top of the fixed rod (17), a sliding block (32) is placed at one end in the arc-shaped groove (22), a welding head (25) is fixedly connected to the top of the sliding block (32), a circular rod (23) is inserted into the sliding block (32), two ends of the circular rod (23) are respectively and fixedly connected to two ends in the arc-shaped groove (22), a second spring (24) is sleeved on the circular rod (23) between the second gear (13) and the sliding block (32), and a limiting component is connected to the welding head (25);
the limiting component comprises a fixed ring (26), the fixed ring (26) is fixedly connected to one side of a welding head (25), a pull ring (27) is arranged above the fixed ring (26), a limiting rod (28) is fixedly connected to the bottom of the pull ring (27), one end of the limiting rod (28) extends out of the fixed ring (26) and is fixedly connected with a baffle ring (30), a third spring (29) is sleeved on the limiting rod (28) between the fixed ring (26) and the baffle ring (30), and one side of the fixed rod (17) is fixedly connected with a plurality of limiting blocks (31);
the limiting blocks (31) are uniformly distributed, and the limiting blocks (31) and the limiting rods (28) are positioned on the same side;
the bottom of the limiting rod (28) is flush with the bottom of the limiting block (31), and the bottom of the baffle ring (30) is flush with the top of the limiting block (31).
2. The spatial multi-degree-of-freedom controllable mechanism type fine-tuning welding robot according to claim 1, wherein the sliding component comprises a plurality of balls (20), an annular groove (19) is formed in the top of the collar (18), the balls (20) are all located in the annular groove (19), a connecting shaft (21) is inserted into the ball (20), and two ends of each connecting shaft (21) are fixedly connected to two sides in the annular groove (19).
3. The spatially multiple degree of freedom controllable mechanical fine tuning welding robot of claim 2 wherein a plurality of balls (20) are evenly distributed around the annular groove (19), one end of each ball (20) is located above the annular groove (19), and one end of each ball (20) is in contact with the bottom of the connecting ring (14).
4. The spatial multi-degree-of-freedom controllable mechanism type fine-tuning welding robot according to claim 1, wherein a bottom plate (6) is fixedly connected to the bottom of the installation shell (1), a circular ring (7) is fixedly connected to the bottom center of the bottom plate (6), a plurality of auxiliary universal wheels (9) are arranged at the bottom of the circular ring (7), a driving motor (10) is fixedly installed at the top of the bottom plate (6), an output shaft of the driving motor (10) penetrates through the side surface of the bottom plate (6) and extends out to be fixedly connected with an electric universal wheel (8), and the electric universal wheel (8) is located in the circular ring (7).
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110261596.0A CN113001072B (en) | 2021-03-10 | 2021-03-10 | Spatial multi-freedom-degree controllable mechanism type micro-adjustment welding robot |
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| CN202110261596.0A CN113001072B (en) | 2021-03-10 | 2021-03-10 | Spatial multi-freedom-degree controllable mechanism type micro-adjustment welding robot |
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| CN113001072B true CN113001072B (en) | 2023-09-08 |
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| CN116175014B (en) * | 2022-12-29 | 2024-02-09 | 苏州威奥得焊材科技有限公司 | Pipeline welding device |
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| CN103769718A (en) * | 2014-02-28 | 2014-05-07 | 广西睿奕科技发展有限公司 | Automatic battery welding device |
| CN105798873A (en) * | 2016-05-23 | 2016-07-27 | 丁士林 | Novel industrial welding robot |
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| CN109014579A (en) * | 2018-10-30 | 2018-12-18 | 谢明仿 | A kind of laser welding All-dimensional manipulator arm |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| US8258422B2 (en) * | 2007-07-27 | 2012-09-04 | Blake Hobson | Plunge adjustment mechanism for a stud welding tool |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103769718A (en) * | 2014-02-28 | 2014-05-07 | 广西睿奕科技发展有限公司 | Automatic battery welding device |
| CN105798873A (en) * | 2016-05-23 | 2016-07-27 | 丁士林 | Novel industrial welding robot |
| CN108907459A (en) * | 2018-07-03 | 2018-11-30 | 戎佰腾 | A kind of method for laser welding |
| CN108982360A (en) * | 2018-10-23 | 2018-12-11 | 奕雪春 | A kind of detection device of surface coating adhesive force |
| CN109014579A (en) * | 2018-10-30 | 2018-12-18 | 谢明仿 | A kind of laser welding All-dimensional manipulator arm |
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| CN113001072A (en) | 2021-06-22 |
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